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Documentation in blockMatrices

release/4.3a0
Richard Roberts 2011-09-07 15:41:17 +00:00
parent 90ef857e41
commit 0d292e6023
1 changed files with 30 additions and 4 deletions
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34
gtsam/base/blockMatrices.h
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@ -155,10 +155,12 @@ public:
return ((const FullMatrix&)matrix_).block(rowStart_, startCol, rowEnd_-rowStart_, endCol-startCol);
}
/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
inline Block full() {
return range(0,nBlocks());
}
/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
inline const constBlock full() const {
return range(0,nBlocks());
}
@ -172,6 +174,7 @@ public:
return matrix_.col(variableColOffsets_[actualBlock] + columnOffset).segment(rowStart_, rowEnd_-rowStart_);
}
/** get a single column out of a block */
const constColumn column(size_t block, size_t columnOffset) const {
assertInvariants();
size_t actualBlock = block + blockStart_;
@ -187,14 +190,25 @@ public:
return variableColOffsets_[actualBlock];
}
/** Get or set the apparent first row of the underlying matrix for all operations */
size_t& rowStart() { return rowStart_; }
/** Get or set the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
size_t& rowEnd() { return rowEnd_; }
/** Get or set the apparent first block for all operations */
size_t& firstBlock() { return blockStart_; }
/** Get the apparent first row of the underlying matrix for all operations */
size_t rowStart() const { return rowStart_; }
/** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
size_t rowEnd() const { return rowEnd_; }
/** Get the apparent first block for all operations */
size_t firstBlock() const { return blockStart_; }
/** access to full matrix */
/** access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
const FullMatrix& fullMatrix() const { return matrix_; }
/**
@ -431,7 +445,6 @@ public:
/** access to full matrix */
const FullMatrix& fullMatrix() const { return matrix_; }
// typedef typename MATRIX::ColXpr Column;
typedef typeof(matrixTemp_.col(0).segment(0, 1)) Column;
typedef typeof(((const FullMatrix&)matrixTemp_).col(0).segment(0, 1)) constColumn;
@ -453,10 +466,23 @@ public:
constColumn column(size_t i_block, size_t j_block, size_t columnOffset) const {
assertInvariants();
size_t i_actualBlock = i_block + blockStart_;
size_t j_actualBlock = j_block + blockStart_;
checkBlock(i_actualBlock);
checkBlock(j_actualBlock);
assert(i_actualBlock < variableColOffsets_.size());
assert(j_actualBlock < variableColOffsets_.size());
assert(variableColOffsets_[j_actualBlock] + columnOffset < variableColOffsets_[j_actualBlock+1]);
constBlock blockMat(operator()(i_block, j_block));
return constColumn(blockMat, columnOffset);
return ((const FullMatrix&)matrix_).col(
variableColOffsets_[j_actualBlock] + columnOffset).segment(
variableColOffsets_[i_actualBlock],
variableColOffsets_[i_actualBlock+1]-variableColOffsets_[i_actualBlock]);
// assertInvariants();
// size_t j_actualBlock = j_block + blockStart_;
// assert(variableColOffsets_[j_actualBlock] + columnOffset < variableColOffsets_[j_actualBlock+1]);
// constBlock blockMat(operator()(i_block, j_block));
// return constColumn(blockMat, columnOffset);
}
Column rangeColumn(size_t i_startBlock, size_t i_endBlock, size_t j_block, size_t columnOffset) {